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Plane: added CHUTE_CHAN parameter for manual release

This commit is contained in:
Andrew Tridgell 2015-10-27 10:46:01 +11:00
parent d20b86b95e
commit 5d1d54a8cb
3 changed files with 14 additions and 2 deletions
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6
ArduPlane/Parameters.cpp
View File

@ -995,6 +995,12 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
// @Group: CHUTE_
// @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
GOBJECT(parachute, "CHUTE_", AP_Parachute),
// @Param: CHUTE_CHAN
// @DisplayName: Parachute release channel
// @Description: If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released
// @User: Advanced
GSCALAR(parachute_channel, "CHUTE_CHAN", 0),
#endif
#if RANGEFINDER_ENABLED == ENABLED

4
ArduPlane/Parameters.h
View File

@ -144,9 +144,8 @@ public:
k_param_rssi = 97,
k_param_rpm_sensor,
k_param_parachute,
// 100: Arming parameters
k_param_arming = 100,
k_param_parachute_channel,
// 105: Extra parameters
k_param_fence_retalt = 105,
@ -490,6 +489,7 @@ public:
AP_Int8 override_channel;
#endif
AP_Int16 gcs_pid_mask;
AP_Int8 parachute_channel;
// RC channels
RC_Channel rc_1;

6
ArduPlane/control_modes.cpp
View File

@ -60,6 +60,12 @@ void Plane::read_control_switch()
inverted_flight = (control_mode != MANUAL && hal.rcin->read(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM);
}
if (g.parachute_channel > 0) {
if (hal.rcin->read(g.parachute_channel-1) >= 1700) {
parachute_manual_release();
}
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (g.override_channel > 0) {
// if the user has configured an override channel then check it